Merge orchestrator/lang (resolve condition aux_value + struct cleanup conflicts)

Author: tbitcs

include/arbiter/arbiter_model.h

@@ -56,6 +56,7 @@ enum ARBITER_op {
 	ARBITER_OP_CHANGED,
 	ARBITER_OP_DELTA_GT,
 	ARBITER_OP_DELTA_LT,
+	ARBITER_OP_HYSTERESIS = 13,
 };
 
 /** Action types. */
@@ -76,6 +77,14 @@ enum ARBITER_cond_group {
 	ARBITER_COND_NOT,
 };
 
+/**
+ * Maximum number of conditions that support per-condition state (hysteresis).
+ * Kept small to avoid dynamic allocation; sized for typical safety models.
+ */
+#ifndef CONFIG_ARBITER_MAX_HYSTERESIS_CONDITIONS
+#define CONFIG_ARBITER_MAX_HYSTERESIS_CONDITIONS 32
+#endif
+
 /** Expression operators for compute engine. */
 enum ARBITER_expr_op {
 	ARBITER_EXPR_ADD = 0,    /**< target = left + right */
@@ -93,6 +102,7 @@ enum ARBITER_expr_op {
 	ARBITER_EXPR_SCALE,      /**< target = (left * right) / scale (fixed-point) */
 	ARBITER_EXPR_ASSIGN,     /**< target = left (copy fact or literal) */
 	ARBITER_EXPR_ACCUMULATE, /**< target = target + (left * right) / scale */
+	ARBITER_EXPR_LOOKUP = 15, /**< target = table_lookup(table[scale], left) */
 };
 
 /** Fact definition (compiled model table entry). */
@@ -125,6 +135,7 @@ struct ARBITER_condition_def {
 	arbiter_index_t fact_id;
 	enum ARBITER_op op;
 	int32_t value;
+	int32_t aux_value; /**< Secondary threshold (e.g. falling edge for hysteresis). */
 	enum ARBITER_cond_group group;
 };
 
@@ -162,6 +173,13 @@ struct ARBITER_rule_def {
 #endif
 };
 
+/** Lookup table definition for interpolation. */
+struct ARBITER_table_def {
+	uint16_t count;           /**< Number of entries in the table. */
+	const int32_t *keys;      /**< Sorted input key values. */
+	const int32_t *values;    /**< Output values (same count as keys). */
+};
+
 /** Complete compiled model. */
 struct ARBITER_model {
 	const char *name;
@@ -180,6 +198,8 @@ struct ARBITER_model {
 	const struct ARBITER_action_def *actions;
 	const struct ARBITER_expr_def *expressions;
 	const char **mode_names;
+	const struct ARBITER_table_def *tables; /**< Lookup tables. */
+	uint16_t table_count;
 #if defined(CONFIG_ARBITER_FPGA_OFFLOAD) && CONFIG_ARBITER_FPGA_OFFLOAD
 	const struct ARBITER_hw_offload_ops *offload_ops;
 #endif

lib/arbiter_eval.c

@@ -83,10 +83,14 @@ struct arbiter_cond_cache_entry {
  * No pointer-to-pointer indirection -- values[] and timestamp are
  * passed directly so the compiler can keep them in registers.
  */
+/* Per-condition hysteresis state bitmask (static — survives across evals). */
+static uint32_t hyst_state[CONFIG_ARBITER_MAX_HYSTERESIS_CONDITIONS / 32 + 1];
+
 ARBITER_ALWAYS_INLINE bool eval_condition(
 	const struct ARBITER_condition_def *__restrict cond,
 	const struct ARBITER_fact_value *__restrict values,
-	arbiter_index_t vcount, uint32_t snap_ts)
+	arbiter_index_t vcount, uint32_t snap_ts,
+	arbiter_index_t cond_index)
 {
 	if (unlikely(cond->fact_id >= vcount)) {
 		return false;
@@ -147,6 +151,43 @@ ARBITER_ALWAYS_INLINE bool eval_condition(
 	case ARBITER_OP_NOT_IN:
 		return val != cond->value;
 
+	/* Hysteresis: rising = value, falling = aux_value.
+	 * State persists in a static bitmask across evaluations.
+	 */
+	case ARBITER_OP_HYSTERESIS: {
+		const int32_t rising = cond->value;
+		const int32_t falling = cond->aux_value;
+		bool prev_state = false;
+
+		if (likely(cond_index <
+			   CONFIG_ARBITER_MAX_HYSTERESIS_CONDITIONS)) {
+			prev_state = (hyst_state[cond_index / 32] >>
+				      (cond_index & 31)) & 1u;
+		}
+
+		bool result;
+
+		if (val >= rising) {
+			result = true;
+		} else if (val <= falling) {
+			result = false;
+		} else {
+			result = prev_state;
+		}
+
+		if (likely(cond_index <
+			   CONFIG_ARBITER_MAX_HYSTERESIS_CONDITIONS)) {
+			if (result) {
+				hyst_state[cond_index / 32] |=
+					(1u << (cond_index & 31));
+			} else {
+				hyst_state[cond_index / 32] &=
+					~(1u << (cond_index & 31));
+			}
+		}
+		return result;
+	}
+
 	default:
 		return false;
 	}
@@ -171,15 +212,16 @@ ARBITER_ALWAYS_INLINE bool eval_condition_group(
 	/* Fast path: single condition -- skip loop entirely */
 	if (likely(count == 1)) {
 		bool r = eval_condition(&conds[start], values,
-					vcount, snap_ts);
+					vcount, snap_ts, start);
 		return (group == ARBITER_COND_NOT) ? !r : r;
 	}
 
 	/* ALL is the overwhelmingly common group type */
 	if (likely(group == ARBITER_COND_ALL)) {
 		for (arbiter_index_t i = 0; i < count; i++) {
 			if (!eval_condition(&conds[start + i], values,
-					    vcount, snap_ts)) {
+					    vcount, snap_ts,
+					    start + i)) {
 				return false;
 			}
 		}
@@ -189,15 +231,16 @@ ARBITER_ALWAYS_INLINE bool eval_condition_group(
 	if (group == ARBITER_COND_ANY) {
 		for (arbiter_index_t i = 0; i < count; i++) {
 			if (eval_condition(&conds[start + i], values,
-					   vcount, snap_ts)) {
+					   vcount, snap_ts,
+					   start + i)) {
 				return true;
 			}
 		}
 		return false;
 	}
 
 	/* ARBITER_COND_NOT: invert single child */
-	return !eval_condition(&conds[start], values, vcount, snap_ts);
+	return !eval_condition(&conds[start], values, vcount, snap_ts, start);
 }
 
 /* ── Expression evaluator ─────────────────────────────────────── */
@@ -209,10 +252,56 @@ ARBITER_ALWAYS_INLINE bool eval_condition_group(
  * Switch cases ordered by frequency: ASSIGN and simple arithmetic
  * first (PID, Kalman models hit these 80%+ of the time).
  */
+/**
+ * Linear interpolation in a lookup table.
+ * Clamps to table endpoints when input is outside range.
+ */
+ARBITER_ALWAYS_INLINE int32_t table_lookup(
+	const struct ARBITER_table_def *__restrict tbl,
+	int32_t input)
+{
+	if (unlikely(tbl == NULL || tbl->count == 0)) {
+		return 0;
+	}
+	const uint16_t n = tbl->count;
+	const int32_t *__restrict keys = tbl->keys;
+	const int32_t *__restrict vals = tbl->values;
+
+	/* Clamp below minimum */
+	if (input <= keys[0]) {
+		return vals[0];
+	}
+	/* Clamp above maximum */
+	if (input >= keys[n - 1]) {
+		return vals[n - 1];
+	}
+	/* Binary-ish scan for bracket (tables are small, linear is fine) */
+	for (uint16_t i = 1; i < n; i++) {
+		if (input <= keys[i]) {
+			/* Linear interpolation between [i-1] and [i] */
+			int32_t k0 = keys[i - 1];
+			int32_t k1 = keys[i];
+			int32_t v0 = vals[i - 1];
+			int32_t v1 = vals[i];
+			int32_t dk = k1 - k0;
+
+			if (dk == 0) {
+				return v0;
+			}
+			/* lerp: v0 + (v1-v0)*(input-k0)/(k1-k0) */
+			int64_t num = (int64_t)(v1 - v0) *
+				      (int64_t)(input - k0);
+			return v0 + (int32_t)(num / dk);
+		}
+	}
+	return vals[n - 1];
+}
+
 ARBITER_ALWAYS_INLINE void eval_expression(
 	const struct ARBITER_expr_def *__restrict expr,
 	struct ARBITER_fact_value *__restrict values,
-	arbiter_index_t vcount)
+	arbiter_index_t vcount,
+	const struct ARBITER_model *__restrict model)
 {
 	const arbiter_index_t tid = expr->target_fact_id;
 
@@ -295,6 +384,19 @@ ARBITER_ALWAYS_INLINE void eval_expression(
 	case ARBITER_EXPR_SHIFT_L:
 		result = left << (right & 31);
 		break;
+	case ARBITER_EXPR_LOOKUP: {
+		/* scale field stores the table index */
+		const uint16_t tbl_idx = (uint16_t)expr->scale;
+
+		if (likely(model->tables != NULL &&
+			   tbl_idx < model->table_count)) {
+			result = table_lookup(
+				&model->tables[tbl_idx], left);
+		} else {
+			result = 0;
+		}
+		break;
+	}
 	default:
 		return;
 	}
@@ -489,11 +591,12 @@ int ARBITER_eval(const struct ARBITER_model *model,
 				for (arbiter_index_t i = 0; i < ec; i++) {
 					const arbiter_index_t ei = es + i;
 
-					if (likely(ei < expr_count)) {
-						eval_expression(
-							&exprs[ei],
-							values, vcount);
-					}
+				if (likely(ei < expr_count)) {
+					eval_expression(
+						&exprs[ei],
+						values, vcount,
+						model);
+				}
 				}
 				ops += ec;
 			}

python/arbiter/canonical.py

@@ -21,6 +21,8 @@ class CanonicalModel:
     actions: list[dict[str, Any]]
     modes: list[dict[str, Any]]
     expressions: list[dict[str, Any]] = field(default_factory=list)
+    tables: list[dict[str, Any]] = field(default_factory=list)
+    table_id_map: dict[str, int] = field(default_factory=dict)
     states: list[dict[str, Any]] = field(default_factory=list)
     transitions: list[dict[str, Any]] = field(default_factory=list)
     hazards: list[dict[str, Any]] = field(default_factory=list)
@@ -105,6 +107,22 @@ def canonicalize(data: dict[str, Any]) -> CanonicalModel:
         annotated["_expr_count"] = len(rule_exprs)
         rules.append(annotated)
 
+    # Flatten tables
+    tables_raw = data.get("tables", [])
+    tables: list[dict[str, Any]] = []
+    table_id_map: dict[str, int] = {}
+    if isinstance(tables_raw, list):
+        tables_sorted = sorted(tables_raw, key=lambda t: t.get("id", "") if isinstance(t, dict) else "")
+        for idx, tbl in enumerate(tables_sorted):
+            if isinstance(tbl, dict) and "id" in tbl:
+                table_id_map[tbl["id"]] = idx
+                tables.append({
+                    "id": tbl["id"],
+                    "index": idx,
+                    "keys": [int(k) for k in tbl.get("keys", [])],
+                    "values": [int(v) for v in tbl.get("values", [])],
+                })
+
     # Flatten states and transitions (REQ-ARCH-039)
     states_flat, transitions_flat, state_id_map = _flatten_states(
         data.get("states", []), action_id_map, fact_id_map, conditions,
@@ -119,6 +137,8 @@ def canonicalize(data: dict[str, Any]) -> CanonicalModel:
         actions=actions,
         modes=modes,
         expressions=expressions,
+        tables=tables,
+        table_id_map=table_id_map,
         states=states_flat,
         transitions=transitions_flat,
         hazards=data.get("hazards", []),
@@ -147,6 +167,7 @@ def canonicalize(data: dict[str, Any]) -> CanonicalModel:
     "min": "min", "max": "max", "clamp": "clamp",
     "shift_r": "shift_r", "shift_l": "shift_l",
     "scale": "scale", "accumulate": "accumulate",
+    "lookup": "lookup",
 }
 
 
@@ -194,15 +215,19 @@ def _flatten_expressions(
         op = _EXPR_OP_ALIASES.get(expr.get("op", "assign"), "assign")
         scale = int(expr.get("scale", 1))
 
-        out.append({
+        entry: dict[str, Any] = {
             "target_fact_id": target_id,
             "op": op,
             "left_fact_id": left_fact_id,
             "left_literal": left_literal,
             "right_fact_id": right_fact_id,
             "right_literal": right_literal,
             "scale": scale,
-        })
+        }
+        # Lookup: store table name for late binding (resolved by emitter)
+        if op == "lookup" and "table" in expr:
+            entry["table"] = expr["table"]
+        out.append(entry)
     return out
 
 
@@ -221,13 +246,19 @@ def _flatten_conditions(
         for cond in group:
             if not isinstance(cond, dict):
                 continue
-            flat = {
+            flat: dict[str, Any] = {
                 "group": group_type,
                 "fact": cond.get("fact", ""),
                 "fact_id": fact_id_map.get(cond.get("fact", ""), 0),
                 "op": cond.get("op", "=="),
                 "value": cond.get("value", 0),
             }
+            # Hysteresis: map rising → value, falling → aux_value
+            if cond.get("op") == "hysteresis":
+                flat["value"] = int(cond.get("rising", 0))
+                flat["aux_value"] = int(cond.get("falling", 0))
+                flat["rising"] = flat["value"]
+                flat["falling"] = flat["aux_value"]
             conditions.append(flat)